BundleLidarControlPoint.h

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#ifndef BundleLidarControlPoint_h
#define BundleLidarControlPoint_h
 
/* SPDX-License-Identifier: CC0-1.0 */
#include <QSharedPointer>
 
#include "BundleControlPoint.h"
#include "BundleMeasure.h"
#include "BundleSettings.h"
#include "LidarControlPoint.h"
 
namespace Isis {
 
//  class LidarControlPoint;
  class BundleLidarRangeConstraint;
 
  typedef QSharedPointer<BundleLidarRangeConstraint> BundleLidarRangeConstraintQsp;

  class BundleLidarControlPoint : public BundleControlPoint {
 
    public:
      BundleLidarControlPoint(BundleSettingsQsp bundleSettings,
                              LidarControlPointQsp lidarControlPoint);
      ~BundleLidarControlPoint();
 
      // copy
      BundleLidarControlPoint &operator=(const BundleLidarControlPoint &src);// ??? not implemented
      void copy(const BundleLidarControlPoint &src);
 
      void initializeRangeConstraints();
      int applyLidarRangeConstraints(SparseBlockMatrix &normalsMatrix,
                                    LinearAlgebra::MatrixUpperTriangular& N22,
                                    SparseBlockColumnMatrix& N12,
                                    LinearAlgebra::VectorCompressed& n1,
                                    LinearAlgebra::Vector& n2);
      void computeResiduals();
 
      virtual void applyParameterCorrections(LinearAlgebra::Vector imageSolution,
                                             SparseBlockMatrix &sparseNormals,
                                             const BundleTargetBodyQsp target);
 
      BundleLidarRangeConstraintQsp rangeConstraint(int n);
      double vtpvRangeContribution();
      int numberRangeConstraints();
      double range();
      double sigmaRange();
 
    private:
      LidarControlPointQsp m_lidarControlPoint;
      QVector<BundleLidarRangeConstraintQsp> m_rangeConstraints;
  };
 
  // typedefs
  typedef QSharedPointer<BundleLidarControlPoint> BundleLidarControlPointQsp;
}
 
#endif // BundleLidarControlPoint_h